Yes, IP SLA will keep the tunnel up.
Here is a sample config
The source-ip is (i.e. 172.16.2.1), which interface should IP-SLA uses to echo the reply from the remote host (i.e 4.2.2.2) in this example. This is IP (i.e. 4.2.2.2) is only for an illustration, however your case, this (4.2.2.2) can be your remote peer's address.
The "frequency 10" is how often should ping the remote host.
ip sla 1
icmp-echo 4.2.2.2 source-ip 172.16.2.1
timeout 20000
frequency 10
ip sla schedule 1 life forever start-time now
ip sla enable reaction-alerts
I hope, this has been any help for you.
Thanks
Rizwan Rafeek