To get you started hardware-wise here's some suggestions...
-MPU-6000 (3-axis Acceleromters/Gyroscope)
-ATSAMD21E17A-MU (Cortex processor to control the sensors, somewhat compatible with Arduino 'Zero', built-in USB)
-ABS07-32.768KHZ-T (32.768kHz Crystal, for the processor)
-MIC5205-3.3YM5-TR...