Please look at my comments below.
Yocto is a system to build Linux BSP.
Linux is a popular OS whereas Android is a framework executing on top of the Linux kernel.
Details of NXP implementation may be found in the documentation on the Web.
No, Yocto BSP is not intended for integration with Android BSP.
The i.MX Android release source code consists of three parts:
• NXP i.MX public source code, which is maintained in the CodeAurora Forum repository.
• AOSP Android public source code, which is maintained in android.googlesource.com.
• NXP i.MX Android proprietary source code package, which is maintained in http://www.NXP.com.