Cook quinoa according to package directions. Set aside to cool.
For the lemon vinaigrette: juice your lemons (you'll need about 1/4 cup of juice). Mince garlic.
Combine the lemon juice, garlic, salt, pepper, olive oil and sugar in a jar with a tight fitting lid; shake to combine.
To prepare the salad dice the red onion (about 1/3 cup), peel orange and chop up segments, dice avocado, drain and rinse beans, remove pomegranate arils (about 1 cup), thaw corn, and chop cilantro.
Combine cooled quinoa with other salad ingredients. Pour lemon vinaigrette over the salad and stir to combine.