I have gone "camper camping" with my dogs numerous times and I am hear to tell you that if I can bring a Great Dane, a German Shepherd and a Belgian Tervuren then it will be a breeze for you to bring a few Yorkies!
As far as the bark collars go, I only recommend the shock collars for the little breeds as a last resort. An alternative collar is a citronella spray collar. When the little yappers start, the collar emits a small puff of non-toxic citronella spray that usually stops the yapping immediately. I have used them on all of my big dogs with no problems to mention.
Pet friendly hotels allow your pets to stay there but they are not usually tolerant of noisy pets. People still complain about noise and if you leave your pet in the room, the last scenario you would want is for someone to enter the room and accidentally let your babies loose. That could have a tragic ending.
The good news is that you shouldn't worry about the noise level while your yappers are in YOUR camper and in YOUR paid spot. Just lock the door when you leave. There are usually camping hosts at each site. I personally would pay them a short visit and let them know where you are and that you are leaving for a few minutes and that your little dogs are yappers and will be barking. Assure them that this is normal and you will be back soon. So if while you are gone and someone complains, there will essentially be no issues as the camp host will let them know that they have spoken with you and all is fine.
