Best method for yellowjacket removal

Went out to check all my stands yesterday. I have a box stand that is always full of wasps so I did my usual check--kicked the stand at the bottom to see how many came out. As I was looking up, I heard a buzzing at my feet and yellowjackets (or possibly bees) were swarming out of the ground. Not just a few either, they looked like a fog. Got stung a few times before I made it back to my truck but felt pretty lucky that it was only a few times.

Anybody got any pointers on how to get rid of these things? I didn't stick around to get a closer look, but it looked like a small crater was under my stand. I've read that gasoline should do the trick, any other ideas?