Aiming at the problem that most trajectory similarity measurement algorithms cannot distinguish the trajectories with opposite directions， a three-dimensional Triangulation Division （3TD） algorithm based on three-dimensional space area division was proposed. Firstly， the absolute time series of the trajectory set was transformed into the relative time series according to the time conversion rules of the 3TD algorithm. Then， in the three-dimensional space coordinate system composed of three elements of longitude， latitude， and time， the area between trajectories were divided into several non-overlapping triangles by partitioning rules， and the areas of the triangles were accumulated and the trajectory similarity was calculated. Finally， the proposed algorithm was compared with the Longest Common SubSequence （LCSS） algorithm and Triangle Division （TD） algorithm on the randomly sampled trajectory dataset collected from the ship Automatic Identification System （AIS）. Experimental results show that the accuracy of the 3TD algorithm reaches 100%. At the same time， the proposed algorithm can also maintain accurate measurement results and high operation efficiency on massive datasets and datasets with partial missing trajectory points， which can better adapt to the similarity measurement of divergent trajectories.