In order to solve such problems as channel congestion and data collision in the wireless communication network during the process of position and attitude estimation of clustered UAVs, a distributed fusion estimator with bandwidth limitation is proposed.With a given component selection matrix and a given weight matrix, and by using the dimension reduction strategy of transporting partial estimated values of intermediate nodes, an optimization scheme is established, which takes filter gains as decision variables and the sum of the trace of the covariance matrix of the state estimation error for all UAVs in the finite time domain as the cost function.Then, a set of sub-optimal filter gain is obtained by minimizing the upper bound of the cost function, and the recursive estimation of position and attitude of the clustered UAVs is realized.Simulation results show that: 1) The distributed fusion estimation can track the true value of the state well;2) The component selection matrix and the weight matrix may affect the fusion estimation accuracy, and the optimum fusion estimation accuracy can be obtained by selecting the combination of the component selection matrix;and 3) The more uniform the intermediate state estimation is, the higher the fusion estimation accuracy.