My bed was causing problems - hip pain and aching joints etc. One night, I felt so uncomfortable I just lay down on the bedside rug, with a pillow and a blanket and tried to sleep. It was difficult, but I concluded it was more comfortable than my bed, so I stuck with it. For the next few nights, I slept some of the time in bed and some of the time on the floor. Then I decided to sleep all night on the floor. I am glad I did. My body is now used to the new sleeping arrangements and I wake up more refreshed. I cannot say it has helped with my PD symptoms, but I can say it has alleviated some of my non-PD problems.
I now use a sleeping bag instead of a blanket.
There is a lot of information on the web about sleeping on the floor.