You are correct CO is lighter than air, meaning it will accumulate in the higher elevations of a confined space and fill downward; but it has to travel through the environment to get to the higher elevations, so you can still breath it in while it migrates. The concentration may not be high enough to be dangerous, until it fills down to where you are breathing. Definitely, do not install one lower than your head.
The confusion about where to install a CO sensor may be due to the fact that some are powered by A/C with a battery backup. These models are usually plugged into A/C receptacles that are low on a wall. Instructions with battery operated ones say to install high (ceiling or near top of a wall) and no lower than about half way up a wall, which in a house puts it about level with a standing person of average height. In an RV half way up a wall will probably be too low.
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