a solution that I've considered, which I'm surprised no one has discussed in my short time on skoolie.net - is, to cut access holes (like 1'x3') in the existing steel sheeted ceiling, probably 3 to work around rib obstructions, and to pull the crappy insulation out, then shoot foam in each of the cavities - then apply a thin wood ceiling cover over the old ceiling (bridging screws/riviets of course). benefit is maintaining majority of structural integrity/strength of original ceiling sheets and foam is contained by existing sheets "forms", and there is way less demo.
Be careful!!
The closed cell polyurethane foam expands with considerable energy. If you take one of the popular (Tiger, FoamIt etc) and attempt to install in the manner you described you will likely wind up with incomplete fill and bulging/bent ceiling panels.
There are other types of foam insulation that will work as you described but the only ones that I have worked with are "open cell" foam and do not have many of the features that make closed cell polyurethane so desirable.
The "void filling" foams that I have seen do not have the R value, moisture resistance or structural strength that the closed cell polyurethane.
I see the advantage from a labor standpoint. If the labor savings offsets the difference in performance then you are in good shape.

