Using MANETs for real time applications is always a challenge as the network is extremely dynamic with brisk topology changes. Despite this, several real time schedulers have been developed that aimed at providing QoS to ad hoc nodes. The quality of service (QoS) is standardized in terms of capacity, reliability, link quality, delays/jitters, and network cost. Thus, for QoS, the better transmission should be maintained at end user as well as at the transmitting unit. QoS of a network is affected by delays and bandwidth allocated for transmission. For an efficient network, it is required to predict these metrics during transmission. For this, in this paper, integration of quaternion-based Kalman filter is performed that predicts the required bandwidth and the network delays with higher accuracy. From the analysis, it is shown that bandwidth can be optimized but it is not possible to aloof delays in the network. Thus, while implementing such admission control procedures, estimation process allows control over delays and sustain them from going beyond a certain threshold value. The model proposed is a novel approach and has not been formulated in any of previous work related to QoS in MANETs. The effectiveness of model is demonstrated using both simulation and real time results.