Our advice to you would be to do plenty of research (check out Trip Advisor) and be sure you want to take your kids to this GP. We went last year for the first time (without kids), the facilities are primitive to say the least (basically an unflushable hole in the ground in a tiny plastic box purporting to be a portaloo) and appeared not be serviced during the 4 days we were there (we used them on Day 1 and crossed our legs for the remaining days!). It was overcrowded, they sold more tickets than capacity and consequently, on race day in particular, the volume of people was unbearable, hazardous and impossible to deal with in the event of a medical emergency in the crowd. There were very long queues at some of the gates (up to 2 hours to get in), there was inconsistency in the checking of bags, some gates insisting every single bag was visibly checked. Umbrellas (for shade last year, in 30+ degree heat, unusually there was no rain) were confiscated at some gates. Food is extremely poor and extremely expensive, think burgers and chips but not even as good(!) as McDonalds. Drinks the same, no public water points so you have to spend a long time in the beer queue just to be robbed for a small bottle of water, take as much in with you as you can carry (even warm water is better than no water). Such a shame as this is an iconic track and one of the must see Grand Prixs but quite frankly it convinced us that F1 is much better enjoyed from the comfort of one's own sofa with easy access to cold drinks, nice food and civilised toilets. Sorry, don't want to put a damper on it but we wish somebody had warned us what was in store before we went.
In terms of camping, we stayed at a very nice B&B, in fact a charming Belgian lady that rents out 2 bedrooms just for the Grand Prix weekend. We parked at Elephant Camping and the site looked decent and reasonably well serviced with toilets and showers but no onsite shop or bar, it's basically a field that is just used as a campsite for the GP. It's about 20 minute walk from the main Eau Rouge entrance, which when we went was one of the smoothest to get in via, we didn't queue for more than 30 minutes on any day. There is also a shuttle bus from the campsite (note this doesn't run after the race due to one way traffic system in operation).
A couple of other things if you do decide to go, assuming you're not going for grandstand seats (equally uncomfortable we heard) 1) if you go for more than race day be sure to research where you plan to sit on race day itself and 2) on race day make sure you get to a gate well ahead of gates open (at 6am) or risk missing out on your chosen viewing spot (some of the good ones are quite a walk from the gates).
Final piece of advice, go to Silverstone instead, you'll have a great time!
Good luck!
Mike & Lisa