The increase in the frequency and severity of wildfires as a symptom of climate change requires innovative methods of wildfire fighting. For this reason, we propose a framework for an autonomous Unmanned Aircraft System (UAS), consisting of a fleet of Unmanned Aerial Vehicles (UAVs) stored in purpose-built hangars. The intention is to deploy the UAS as the first responder to an alarm and have the sensor-equipped UAVs monitor the target area even before other standard firefighting vehicles have arrived. The focus of this paper is primarily on the development and application of a location-allocation optimization Mixed-Integer Linear Programming (MILP) model that selects different UAV and hangar types and locates them, with the objective of approaching the target area as quickly as possible while guaranteeing a certain monitoring time at the scene. The model is applied to a large, sparsely populated, rural operational area, around a third of which consists of forest in the South of Brandenburg, Germany. The spatial demand is measured through an easily reproducible and transferable open data approach. Finally, several instances with different fixed numbers of hangars and UAVs to be set up are solved by the commercial state-of-the-art solver CPLEX and analyzed for their computation time.