So I found the answer: https://bugs.launchpad.net/onboard/+bug/1032042
Once you have onboard 0.99 installed and running, you can execute the following two commands to show and hide the keyboard respectively without having to kill the process:
dbus-send --type=method_call --dest=org.onboard.Onboard /org/onboard/Onboard/Keyboard org.onboard.Onboard.Keyboard.Show
dbus-send --type=method_call --dest=org.onboard.Onboard /org/onboard/Onboard/Keyboard org.onboard.Onboard.Keyboard.Hide
This solved all my problems in a way better than just killing it.