I'd think about using a hybrid hydronic/hot air system.

http://en.wikipedia.org/wiki/Hydronics

Setup a hot water heating system "in a box", well outside the yurt.
This could be as simple as an insulated cookpot with a low flame
underneath, but probably better would be a small propane water heater
since it has an integrated thermostat. To get more efficiency, put a
thick insulating blanket around it. The radiant heater (could be a
scrap automotive radiator) is in its own duct nearby, and the other
side of that duct is connected to your space. The pump could be an
automotive coolant pump. Using  a water heater, you might want to make
sure the tank is vented to avoid expansion problems.

You blow air through the duct, which is attached to the yurt somewhere
near the base with flexible, insulated ducting to heat the space. To
avoid noise, perhaps situate the fan inside the duct right in front of
the radiator, or just use the fan that came with it :)

This avoids any trouble with CO or CO2 if the source air is ducted
from somewhere above and away from the heater.

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