Recently,researchers start turning to the problem of ensuring coverage and connectivity in three dimensional sensor networks.However,existing works only focus on deterministic deployment pattern in homogenous sensor networks,which neglect the significant problem of sleep scheduling and power control in randomly distributed three dimensional sensor networks.To address this problem,five design rules were proved to guarantee m-coverage,to guarantee k-connectivity,and to control transmission power respectively in three dimensional heterogenous sensor networks.Then,based on these rules,an integrated topology control algorithm was proposed,which schedules the active/sleep status and controled the transmission power of sensor nodes while preserving m-coverage and k-connectivity of the network.Simulation results show that the proposed algorithm effectively prolongs the network lifetime under the condition of ensuring m-coverage and k-connectivity of three dimensional heterogeous sensor networks.