The only thing I've ever found to help getting to sleep is a multitude of pillows. The pregnancy pillow wedged under the belly; another wedged under my back; two together, forming exactly the right height, under my head; the doona under my feet; and generally the cat joins in and braces against the back of my knees.
Astoundingly, there is still room in the bed for my DH after all this is arranged.

Less astoundingly, I generally no sooner get as close to comfy as I can when the baby starts what feels like the Intra-Uterine Soccer Championships and I have to move.
I hope you get some rest soon. :hugs:
Kirsten