I'm 24 weeks with my fourth and at least one night a week (if not more) I have a night like yours. I think to a certain extent, sometimes you're just going to have bad nights because of being pregnant, but, I do think that there are a few things that you might try. At least with me, I think they make a some difference.
I have to watch my caffeine intake--both how much and when. I usually only have one cup of coffee in the morning but on really bad days will have a second cup or a Coke around lunch time. I think if I drink caffeine any later than lunch/early afternoon and then try to go to bed at a regular time, it can cause problems.
I have to pay attention to what I watch/read and eat in the hour before I go to bed. I had to really crack down on myself watching cop shows (or anything violent/gory/upsetting in any way) and eating candy. Trying to go to sleep isn't so easy after I've upset myself watching a show about a kid getting kidnapped while I was pumping myself full of chocolate!
I think getting some exercise during the day helps too, although I doesn't happen a lot more often that it does!
And, last, but not least, with one of my pregnancies I couldn't sleep without my body pillow but with this pregnancy I don't want it at all. I found that a regular size down pillow that I just kind of hug when I lay on my side is just right. And I switched one of the pillows for my head to a firmer one. Maybe try out some different pillows and/or sleeping positions. I also would need to lay on my back with legs bent to even start to relax. My OB said laying on your back is really only a problem if you have high blood pressure or some other issue.
Oh, and, I've also used my MP3 player although not very many times at all. And make sure you have a great stack of magazines or books by your bed. Good luck to you!