Maybe you could rent a Rug Doctor, and buy a special pet formula to get the smell out of your carpets.
Making a potty schedule and posting it on your fridge will help your family know when to take the dogs out. Until they are fully trained, it is a good idea to start by letting them go out every 2 hours.
At night, place pee pads down for them.
Also, you can place them on a feed schedule too. Not to free feed them. that way you will have more control over when they need to eleminate. Consistency is very important when training. You can even teach them to go potty on command. Have a potty spot in the yard. Reward them when they go, and give them plenty of praise when they suceed. Yorkie's are known to be difficult to train.
Best Wishes.
