From D to E on your map, go along the northern roads on the UP of Michigan, hug the Superior shore line.

There are lots of places along there and in Wisconsin. I'm more familiar with the campgrounds in Vilas County WI as I went to them lots as a kid. We loved the peace and quiet of the campgrounds at Crystal Lake, but then Better Homes and Gardens named it one of the 20 best campgrounds... After that it was hard to find a spot. We also camped allot at the Lake Muskellunge campground. Of course that was over 40 years ago... So things may have changed since then.
You'll be close to the North Shore of Lake Superior. I think it would be more fun to head up along the coast from Duluth, MN to Grand Marais, MN, and then backtrack a bit and go west to Ely, MN. From Ely, head up to International Falls, MN. If you go further up the Superior North Shore to the Grand Portage State Park which has the highest falls in MN. Camping is available in Grand Portage, MN and the park on the Canadian side.
http://en.wikipedia.org/wiki/Grand_Portage_State_Park All along the North Shore there are waterfalls, and campgrounds. The UP of Michigan, Northern Wisconsin, and Northern Minnesota are rich with state and federal parks, and forests. Many have camping as recreation is a major industry up there. Forgive me if I don't make recommendations as it has been over a decade since I've camped up there.
While you are up there in Northern MN, look for Aurora at night. Magnetic North, which the Aurora display is centered on, is on that side of the North Pole. Spaceweather has info on Aurora.
http://spaceweather.com/