Aircraft Anti collision system using ZIGBEE Communication

AIRCRAFT ANTI COLLISION SYSTEM USING ZIGBEE COMMUNICATION
Dept. of ECE, TKRCET Page 1
CHAPTER 1
INTRODUCTION
1.1 MOTIVATION
The main aim of the project to detect the another aircraft which was approaching
nearer to it, to avoid collision. When it was detected, the information of both aircrafts
are transfer and received to the pilots. It displays, the aircraft was near. After noticing
these, pilot will move to another direction in safe zone. In Zigbee communication we
can easily transfer and receive the information. So, the information of both aircrafts are
communicate easily. By these we can avoid the collision.
1.2 BLOCK DAIGRAM
Aircraft 1:
Aircraft 2:
ATMEGA
328P UNO
16 x 2 LCD Display
AIRCRAFT 2 NEAR
HC-12
ZIGBEE
RED LED
ZIGBEE
GREEN LED
ZIGBEE
Buzzer
HC-SRO4
ULTRASONIC SENSOR
ATMEGA
328P UNO
RED LED
ZIGBEE
GREEN LED
ZIGBEE
Buzzer
HC-SRO4
ULTRASONIC SENSOR
16 x 2 LCD Display
AIRCRAFT 1 NEAR
HC-12
ZIGBEE

1.3 LITERATURE SURVEY
In this project Zigbee is placed to communicate between two aircrafts. The
system is provided with Led and buzzer. If two aircrafts are moving if they are
approaching near, they are detected by ultrasonic and transfer data of aircrafts by
Zigbee. Once the aircraft is detected LED blinks with a buzzer sound and the data is
displayed on the LCD. In this way we can detect the aircraft and can avoid the collision
with the Zigbee communication.
1.4 ORGANIZATION OF THESIS
In chapter 1 we are discussed about introduction of a project, in chapter 2 we are
discussed about Arduino software which is used in our project, in chapter 3 we are
discussed about micro controller of our project, in chapter 4 we are discussed about
hardware components used in project and in chapter 5 we are discussed about final
result of the project.

CHAPTER 2
SOFTWARE DISCRIPTION
2.1 INTRODUCTION OF ARDUINO SOFTWARE
The Arduino Uno SMD R3 is a microcontroller board based on the ATmega328.
It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog
inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header,
and a reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to-DC adapter or
battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-
serial driver chip.
Additional features coming with the R3 version are:
ATmega16U2 instead 8U2 as USB-to-Serial converter.1.0 pinout: added SDA
and SCL pins for TWI communication placed near to the AREF pin and two other
new pins placed near to the RESET pin, the IOREF that allow the shields to adapt to
the voltage provided from the board and the second one is a not connected pin, that is
reserved for future purposes stronger RESET circuit.
"Uno" means "One" in Italian and is named to mark the upcoming release of
Arduino 1.0. The Uno and version 1.0 will be the reference versions of Arduino,
moving forward. The Uno is the latest in a series of USB Arduino boards, and the
reference model for the Arduino platform.
2.2 PROGRAMMING
The Arduino Uno can be programmed with the (Arduino Software (IDE)).
Select "Arduino/Genuino Uno from the Tools > Board menu (according to the
microcontroller on your board). For details, see the reference and tutorials.
The ATmega328 on the Arduino Uno comes preprogrammed with a bootloader that
allows you to upload new code to it without the use of an external hardware
programmer. It communicates using the original STK500 protocol (reference, C
header files).

You can also bypass the bootloader and program the microcontroller through the
ICSP (In-Circuit Serial Programming) header using Arduino ISP or similar; see these
instructions for details.
The ATmega16U2 (or 8U2 in the rev1 and rev2 boards) firmware source code is
available in the Arduino repository. The ATmega16U2/8U2 is loaded with a DFU
bootloader, which can be activated by:
On Rev1 boards: connecting the solder jumper on the back of the board (near the map
of Italy) and then rese ing the 8U2.
On Rev2 or later boards: there is a resistor that pulling the 8U2/16U2 HWB line to
ground, making it easier to put into DFU mode.
You can then use Atmel's FLIP software (Windows) or the DFU
programmer (Mac OS X and Linux) to load a new firmware. Or you can use the ISP
header with an external programmer (overwriting the DFU bootloader). See this user-
contributed tutorial for more information.
Differences with other boards
The Uno differs from all preceding boards in that it does not use the FTDI USB-
to-serial driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version
R2) programmed as a USB-to-serial converter.
2.3 POWER
The Arduino Uno board can be powered via the USB connection or with an
external power supply. The power source is selected automatically.
External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or
battery. The adapter can be connected by plugging a 2.1mm center-positive plug into
the board's power jack. Leads from a battery can be inserted in the GND and Vin pin
headers of the POWER connector.
The board can operate on an external supply from 6 to 20 volts. If supplied with
less than 7V, however, the 5V pin may supply less than five volts and the board may
become unstable. If using more than 12V, the voltage regulator may overheat and
damage the board. The recommended range is 7 to 12 volts.
The power pins are as follows:
Vin. The input voltage to the Arduino/Genuino board when it's using an external
power source (as opposed to 5 volts from the USB connection or other regulated power
source). You can supply voltage through this pin, or, if supplying voltage via the power

jack, access it through this pin.5.This pin outputs a regulated 5V from the regulator on
the board. The board can be supplied with power either from the DC power jack (7 -
12V), the USB connector (5V), or the VIN pin of the board (7-12V). Supplying voltage
via the 5V or 3.3V pins bypasses the regulator, and can damage your board. We don't
advise it.
3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is
50 mA.
GND. Ground pins.
IOREF. This pin on the Arduino/Genuino board provides the voltage reference with
which the microcontroller operates. A properly configured shield can read the IOREF
pin voltage and select the appropriate power source or enable voltage translators on the
outputs to work with the 5V or 3.3V.

CHAPTER 3
MICRO CONTROLLER
3.1 DESCRIPTION OF MICRO CONTROLLER
The Uno R3 SMD is an Uno compatible version of the latest R3 iteration of the
Arduino Uno, which is the most popular of the many development boards available for
hobbyists. It uses an SMD version of the microprocessor rather than the older style DIP
package used on the original product.
The Uno R3 SMD operates at 5V which can be supplied via an external power
supply or through the USB port connection. The power source is selected automatically
if both are available. If an external supply is used, it is recommended to use a supply
between 7-12V. Higher input voltages will cause the on-board regulator to work harder
and may cause it to overheat. Our 7.5V AC adapter works extremely well for powering
these boards.
Fig 3.1.1: UNO ATMEGA328P
A great feature on this version of the board is that besides the standard female
headers for bringing out I/O, each female header also has a row of holes next to it to
which can be soldered male headers, a second row of female headers or even wires.
These can be soldered to either the top or bottom side of the board. The board comes
with a strip of male headers which are normally soldered to the top side of the board as

shown in one of the pictures. If the male headers are soldered to the bottom of the
board, the board can’t be mounted directly into a breadboard since the separate sections
of headers on one side are not spaced apart.
The original Uno design which we also sell uses a DIP processor placed in a
socket. The benefit to that design is that it is easy to replace the processor should the
chip become damaged. The downside is that the DIP part is becoming harder to find
and the assemblies cost more than the SMD version.
3.2 UNO ATMEGA328P FEATURES
 Microcontroller: ATmega328 SMD
 Operating voltage: 5 V
 Input voltage (recommended): 7-12 V
 Digital I/O pins: 20 (of which 6 provide PWM output)
 Analog input pins: 6*
 DC current per I/O pin: 40 mA
 DC current for 3.3V pin: 50 mA
 Flash memory: 32 KB (ATmega328) of which 0.5 KB used by bootloader
 SRAM: 2 KB (ATmega328)
 EEPROM: 1 KB (ATmega328)
 Clock speed: 16 MHz
3.3 PIN DAIGRAM
 VCC: Digital supply voltage.
 GND: Ground.
 Port B: (PB[7:0]) XTAL1/XTAL2/TOSC1/TOSC2 Port B is an 8-bit bi-
directional buffers have symmetrical drive characteristics with both high sink
and source capability. As inputs, Port B pins that are externally pulled low will
source current if the pull-up resistors are activated. The Port B pins are tri-stated
when a reset condition becomes active, even if the clock is not running.
Depending on the clock selection fuse settings, PB6 can be used as input to the
inverting Oscillator amplifier and input to the internal clock operating circuit.
Depending on the clock selection fuse settings, PB7 can be used as output from

the inverting Oscillator amplifier. If the Internal Calibrated RC Oscillator is
used as chip clock source, PB[7:6] is used as TOSC[2:1] input for the
Asynchronous Timer/Counter2 if the AS2 bit in ASSR is set.
 Port C:(PC[5:0]) Port C is a 7-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The PC[5:0] output buffers have symmetrical
drive characteristics with both high sink and source capability. As inputs, Port C
pins that are externally pulled low will source current if the pull-up resistors are
activated. The Port C pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
 PC6/RESET: If the RSTDISBL Fuse is programmed, PC6 is used as an I/O pin.
Note that the electrical characteristics of PC6 differ from those of the other pins
of Port C. If the RSTDISBL Fuse is un programmed, PC6 is used as a Reset
input. A low level on this pin forlonger than the minimum pulse length will
generate a Reset, even if the clock is not running.
Shorter pulses are not guaranteed to generate a Reset. The various special features of
Port Care elaborated in the Alternate Functions of Port C section.
 Port D:(PD[7:0]) Port D is an 8-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port D output buffers have symmetrical
drive characteristics with both high sink and source capability. As inputs, Port D
pins that are externally pulled low will source current if the pull-up resistors are
activated. The Port D pins are tri-stated when a reset condition becomes active,
even if the clock is not running.
 AVCC:AVCC is the supply voltage pin for the A/D Converter, PC[3:0], and
PE[3:2]. It should be externally connected to VCC, even if the ADC is not used.
If the ADC is used, it should be connected to VCC through a low-pass filter.
Note that PC[6:4] use digital supply voltage, VCC.
 AREF:AREF is the analog reference pin for the A/D Converter.5.2.9. ADC[7:6]
(TQFP and VFQFN Package Only) In the TQFP and VFQFN package,
ADC[7:6] serve as analog inputs to the A/D converter. These pins are powered
from the analog supply and serve as 10-bit ADC channels.
 UART: UART stands for “Universal Asynchronous Receiver / Transmitter”
generally calledas serial port. Any device that communicates through serial

communication protocol can be connected to UART pins of the microcontroller.
As shown in the figure below UART connector consists of D0 and D1 pins.
 Analog connectors: Six connectors placed vertically on left most side of the
board are analog pins A0 to A5. Each connector gives out two analog pins. For
example A0 connector gives out A0, A1, Vcc and Gnd. Any sensors that gives
analog outputs can be connected to connectors A0 to A5.
Fig 3.3.1: ATMEGA328P 32pin diagram
3.4 COMMUNICATION
The Arduino Uno has a number of facilities for communicating with a
computer, another Arduino, or other microcontrollers. The ATmega328 provides UART
TTL (5V) serial communication, which is available on digital pins 0 (RX) and 1 (TX).
An ATmega16U2 on the board channels this serial communication over USB and
appears as a virtual com port to software on the computer. The16U2 firmware uses the

standard USB COM drivers, and no external driver is needed. However, on Windows, a
.inf file is required. The Arduino software includes a serial monitor which allows simple
textual data to be sent to and from the Arduino board. The RX and TX LEDs on the
board will flash when data is being transmitted via the USB-to-serial chip and USB
connection to the computer (but not for serial communication on pins 0 and 1). A
SoftwareSerial library allows for serial communication on any of the Uno digital pins.
The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus.
3.5 CHARACTERISTICS
The maximum length and width of the Uno PCB are 2.7 and 2.1
inches respectively, with the USB connector and power jack extending beyond the
former dimension. Four screw holes allow the board to be attached to a surface or case.
Note that the distance between digital pins 7 and 8 is 160 mil (0.16"), not an even
multiple of the 100 mil spacing of the other pins.

CHAPTER 4
HARDWARE DESCRIPTION
4.1 ZIGBEE MODULE
HC-12 wireless serial port communication module is a new-generation
multichannel embedded wireless data transmission module. Its wireless working
frequency band is 433.4-473.0MHz, multiple channels can be set, with the stepping of
400 KHz, and there are totally 100 channels. The maximum transmitting power of
module is 100mW (20dBm), the receiving sensitivity is -117dBm at baud rate of
5,000bps in the air, and the communication distance is 1,000m in open space.
This module cannot work individually, at least 2pcs would be needed to create the
communication.
Fig 4.1.1: ZIGBEE module
Features
 Long-distance wireless transmission (1,000m in open space/baud rate 5,000bps
in the air)
 Working frequency range (433.4-473.0MHz, up to 100 communication
channels)
 Maximum 100mW (20dBm) transmitting power (8 gears of power can be set)
 Three working modes, adapting to different application situations
 Built-in MCU, performing communication with external device through serial
port
 The number of bytes transmitted unlimited to one time.

Specifications
 Working frequency: 433.4MHz to 473.0MHz
 Supply voltage: 3.2V
 1,000m in the open space
 Serial baud rate: 1.2Kbps to 115.2Kbps（default 9.6Kbps）
 Receiving sensitivity: -117dBm to -100dBm
 Transmit power: -1dBm to 20dBm
 Interface protocol: UART/TTL
 Operating temperature: -40℃ to +85℃ to 5.5VDC
 Communication distance
 Dimensions: 27.8mm x 14.4mm x 4mm
4.2 ULTRASONIC SENSOR
The ultrasonic sensor works on the principle of SONAR and RADAR system
which is used to determine the distance to an object.
An ultrasonic sensor generates the high-frequency sound (ultrasound) waves.
When this ultrasound hits the object, it reflects as echo which is sensed by the receiver
as shown in below figure.
Fig 4.2.1: Generation of Ultrasonic Sensor

Ultrasonic Working Principle
By measuring the time required for the echo to reach to the receiver, we can
calculate the distance. This is the basic working principle of Ultrasonic module to
measure distance.
Ultrasonic Module
HC-SR-04 has an ultrasonic transmitter, receiver and control circuit. In
ultrasonic module HC-SR04, we have to give trigger pulse, so that it will generate
ultrasound of frequency 40 kHz. After generating ultrasound i.e. 8 pulses of 40 kHz, it
makes echo pin high. Echo pin remains high until it does not get the echo sound back.
So the width of echo pin will be the time for sound to travel to the object and return
back. Once we get the time we can calculate distance, as we know the speed of sound.
HC-SR04 can measure up to range from 2 cm - 400 cm.
Fig 4.2.2: HC-SR04 Ultrasonic sensor

Pin Description
 VCC - +5 V supply
 TRIG – Trigger input of sensor. Microcontroller applies 10 us trigger pulse to
the HC-SR04 ultrasonic module.
 ECHO–Echo output of sensor. Microcontroller reads/monitors this pin to detect
the obstacle or to find the distance.
 GND – Ground
Technicalspecifications
 Power Supply − +5V DC
 Quiescent Current − <2mA
 Working Current − 15mA
 Effectual Angle − <15°
 Ranging Distance − 2cm – 400 cm/1″ – 13ft
 Resolution − 0.3 cm
 Measuring Angle − 30 degree
4.3 LCD (LIQUID CRYSTAL DISPLAY)
LCD's can add a lot to your application in terms of providing a useful interface
for the user, debugging an application or just giving it a "Professional" look. The most
common type of LCD Controller is the Hitachi 44780 that provides a relatively simple
interface between a processor and an LCD. Inexperienced designers do often not
attempt using this interface and programmers because it is difficult to find good
documentation on the interface, initializing the interface can be a problem and the
display themselves are expensive. LCD has signal line display, Two-line display, four
line display. Every line has 16 characters.
LCD stands for liquid crystal display. The most commonly used LCD's found in
the market today are 1 line, 2line or 4line LCD's which have only one controller and
support at most 80 characters. Liquid crystal display a type of display used in digital
watches and many portable computers.

LCD displays utilize two sheets of polarizing material with a liquid crystal
solution between them. An electric current passed through the liquid causes the crystals
to align so that light cannot pass through them each crystal, therefore, is like a shutter,
either allowing light to pass through or blocking the light. The liquid crystals can be
manipulated through an applied electric voltage so that light is allowed to pass or is
blocked. By carefully controlling where and what wavelength (color) of light allowed to
pass, The LCD monitor is able to display images. A back light provides LCD monitor's
brightness. Other advance have allowed LCD's to greatly reduce liquid crystal cell
response times. Response time is basically the amount of time it takes for a pixel to
"change colors". In reality response time is the amount of time it takes a liquid crystal
cell to go from being active to inactive here the LCD is used at both the Transmitter as
well as the receiver side.
LCD stands for Liquid Crystal Display. The most commonly used LCD’s
found in the market today are 1 line, 2 line or 4 line LCD’s which have only one
controller and support at most 80 characters.
Fig 4.3.1: 16 X 2 LCD
The input which we give to the microcontroller is displayed on the LCD of the
transmitter side and the message sent is received at the receiver side which display at
the receiver end of the LCD and the corresponding operation is performed. They make
complicated equipment easier to operate. LCDs come in many shape and size but the
most common is the 16 character x4 line display with no backlight. It requires only 11
connections eight bits for data and three control lines. It runs off a 5v DC supply and
only needs about 1mA of current. The display contrast can be varied by changing the
voltage into pin 3 of the display.

Pin Diagram
16×2 LCD is named so because; it has 16 Columns and 2 Rows. There are a lot
of combinations available like, 8×1, 8×2, 10×2, 16×1, etc. but the most used one is the
16×2 LCD. So, it will have (16×2=32) 32 characters in total and each character will be
made of 5×8 Pixel Dots.
Fig 4.3.2: Pin diagram of LCD
Features
1. Type: Character
2. Display format: 16 x 2 characters
3. Built-in controller: KS 0066 (or equivalent)
4. Duty cycle: 1/16
5. 5 x 8 dots includes cursor
6. + 5 V power supply
7. LED can be driven by pin 1, pin 2, or A and K
8. Optional: Smaller character size (2.95 mm x 4.35 mm)
Specifications
1. Module Dimension: 80.0*36.0mm
2. Viewing Area: 66.0*16.0mm
3. Dot size: 0.56*0.66mm
4. Character Size: 2.96*5.56mm
5. Power Supply (VDD-VSS): -0.3v (MIN) and -7.0v (MAX)
6. Input Voltage (VI): -0.3v (MIN) and 5.0v (MAX)
7. Input Voltage (VDD): +5v

4.4 LED LIGHTS
LEDs are available in a variety of sizes and shapes including the 5mm LED. We
carry a wide assortment of the most common models of 3mm, 5mm, 8mm and 10mm
models.
The size refers to the outside diameter of the LED, with the 5mm LED being the
industry standard as the most common LED model. 3mm LEDs are the smallest and
used in tight-fitting applications, while 8mm and 10mm models are used where you
want to get out as much light as possible.
5mm LED Overview
A Super bright 5mm LED is exceptionally bright with a wide beam angle, so
they’re suitable for use in your projects, illuminations, headlamps, spotlights, car
lighting, models. The 5mm LED can be used anywhere where you need low power,
high-intensity reliable lighting or indication. They go quickly into a breadboard and will
add that extra zing to your project.
The 5mm T1 3/4 LED is the most common size of LED available.
In this project we are using Green and Red LEDs
BUZZER
A buzzer is a small yet efficient component to add sound features to our
project/system. It is very small and compact 2-pin structure hence can be easily used
on breadboard, Perf Board and even on PCBs which makes this a widely used
component in most electronic applications.
Fig 4.5.1: Buzzer

There are two types are buzzers that are commonly available. The one shown
here is a simple buzzer which when powered will make a Continuous Beeeeeeppp....
sound, the other type is called a readymade buzzer which will look bulkier than this and
will produce a Beep. Beep. Beep. Sound due to the internal oscillating circuit present
inside it. But, the one shown here is most widely used because it can be customized
with help of other circuits to fit easily in our application.
This buzzer can be used by simply powering it using a DC power supply
ranging from 4V to 9V. A simple 9V battery can also be used, but it is recommended to
use a regulated +5V or +6V DC supply. The buzzer is normally associated with a
switching circuit to turn ON or turn OFF the buzzer at required time and require
interval.
Applications of Buzzer:
 Alarming Circuits, where the user has to be alarmed about something
 Communication equipments
 Automobile electronics
 Portable equipments, due to its compact size
Pin
Name
Description
1 Positive Identified by (+) symbol or longer terminal
lead. Can be powered by 6V DC
2 Negative Identified by short terminal lead. Typically
connected to the ground of the circuit

4.6 PROJECT DESCRIPTION
Fig 4.6.1: Schematic Diagram
In this project, we are using UNO ATMEGA328 Microcontroller, LCD,
ZIGBEE, LEDs, Buzzer. In this project, we can identify the aircraft coming towards the
other aircraft. By this the pilot can take certain measurements to avoid collisions. There
is a ZIGBEE which is used for the communication between two aircrafts. This ZIGBEE
is connected to the microcontroller. Whenever the aircraft1 is approaching aircraft 2
then a signal will be sent to the microcontroller and a buzzer will be activated, led array
is in on condition and “A is nearer to B” message will be displayed on the LCD screen
of Aircraft1 When ever both the aircrafts are out of range then “safe mode” will be
displayed on the LCD screen of two aircrafts A & B.

CHAPTER 5
RESULT

ADVANTAGES
 All threaten taken into account
 Detection of all transponding aircraft, including those which are not displayed
on the aircraft controllers screen
 Information of both aircrafts is easily transmitted and received
 Easily detected and avoid collision
 Accuracy is high.
 It reduces the man power
 Not light sensitive
 Not as sensitive to weather/environmental conditions
DISADVANTAGES
 It detects only in unidirectional
 Sometimes generates unnecessary alerts
 The more data transmitted from one aircraft in accordance with the system
design, the lesser the number of aircraft that can participate in the system

CONCLUSION
Hence we have designed and implemented successfully the Aircraft anti
collision system using Zigbee in embedded systems. Use of Zigbee Module in Place of
heavy radar system will be helpful in reducing the complexity as well as the
maintenance of the system. Due to the transmission of the aircraft parameters through a
module to the base station leads to major improvement in Aircraft safety.

BIBLIOGRAPHY
 AVR Microcontroller and Embedded Systems: Using Assembly and C-
Muhammad Ali Mzidi, Sarmad Naimi, Sepehr Naimi
 ZIGBEE Wireless Networks and Transceivers – Shahin Frahani
 Arduino: A Technical Reference by J. M. Hughes
 Raj Kama l (2004), Embedded Systems. Architecture, Programming and design,
International Edition, New Delhi:McGraw-Hill.
 Drumm, A. C., etal. "Remotely Piloted Vehicles in civil airspace: requirements
and analysis methods for the traffic alert and collision avoidance system (TCAS)
and see-and-avoid systems." Digital Avionics Systems Conference, 2004.
DASC 04. The 23rd. Vol. 2. IEEE, 2008

Aircraft Anti collision system using ZIGBEE Communication

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