I have also suffered this problem on and off my whole life. I have to go through several different things to help me find what will work each night... I can sometimes just try staring at something down my nose and just keep all my thoughts focused on staring down my nose. Sometimes getting up and going to the bathroom even if I don't need to go (sometimes 3-4 times). Sometimes just turning to the other end of the bed with my pillow will allow me to fall asleep then when I wake up cold I turn back around and usually go right back to sleep. Sometimes putting lotion on my arms and legs or wrapping my legs rather snuggly in my sheet (like swaddling). I can't think of any other things right now, but I have lots of others I try, but it changes everynight.

Good luck!