In Android world, there are two popular injection/hijack/hooking frameworks :
Xposed and Android Substrate
The Xposed's mechanism is described in a development tutorial.
The author of Android Substrate compared the two frameworks in FAQ and here, but he didn't say how it works.
I just wonder:
How does Android Substrate work?
Jay Freeman(Saurik) in this post(http://www.cydiasubstrate.com/id/34058d37-3198-414f-a696-73e97e0a80db/) talks about the deference in xposed and substrate and also talks about how they deffer in the way they work its a great read.