I have traveled with my yorkie Boo all over the US. When ever I go inside somewhere like a rest area or even a store I simple put him inside his bag (over-sized purse) he lays down and no one even knows he's there. I have gotten caught a couple of times but no one really minds, most just think its cute. Many places in Florida will let you take small dogs like yorkie in as long as they are in a bag or pouch and are well behaved.
It takes a little time for them to get use to being in a bag, the best thing is to practise. First just putting them in and out, then walking around, then take them to places you know won't get mad once they get use to it you can take them anywhere. I even took Boo in a couple of resturants.
