During the last decade, the amount of research that involves unmanned aerial vehicle (UAV) has spread out by offering great number of challenges for artificial intelligence and knowledge representation. Autonomous vehicles have gained a huge relevance in different fields and they have been proposed for a wide range of indoor and outdoor applications, including searching, surveillance, infrastructure inspections and serial aerial image acquisition. The most common mission scenario involves placing on the UAV different sensors like GPS, camera, telemetry for data collection tasks where the data could be processed using off-line or real-time applications supervised by a ground station. The purpose of the thesis gets inspiration from the Spectral Evidence of Ice (SEI) project, aimed at providing innovative tools to inspect and identify the ice on airplanes, using techniques of photogrammetry and spectral analysis, to support operators in improving the efficiency of the deicing process.