The dog

My husband had a dog before we met in general hes a nice dog (large dog) anyway hes always slept in bed with him. Now I'm not a dog lover although I do like animals but I just dont think its hygienic sleeping with them. At the beginning I used to suffer the dog on the end of the bed when staying over his but most times I would end up on the sofa because he would keep me awake. Since then we got married etc but now the dog wont let me sleep in the same bed as my husband at all so we are in separate rooms. My in laws have the dig for a few days a week so I do get a break. We have tried to train it to sleep on the floor but that's just ended in disaster because he keeps jumping up and crying so neither of us get any sleep. I'm at my wits end I want to sleep next to my husband. My husband thinks I'm jealous of the dog and yeah I am. I'm his wife and cant even sleep with him. I feel really sad and it's making me resent my husband and the dog. Its really not normal is it ?