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He could feel that Luke is his son when they were in the Death Star trench together and he confirms it somehow between Star Wars and The Empire Strikes Back
He DID find out that Luke had a twin sister (and his daughter) by reading Luke's mind at the end of Return of the Jedi. "If you cannot be turned to the Dark Side, then perhaps she will!" It's not clear if he knows Leia is that daughter. "Tell your sister...you were right..."
The fact that he doesn't sense Leia is his daughter could be put down to the fact that Lucas hadn't decided Leia was his daughter until Return of the Jedi, OR you could just say he couldn't tell because Leia wasn't using the Force.