"How do beekeepers raise queens, from there good queens to put in new hives, and know that they have a good queen"
Yep. That is a problem where there are africanized bees.
Some southern queen producers are going to artificial insemination.
The problem is, the queens only mate on the wing and a fair amount of distance off of the ground. I don't remember how high: perhaps 20 feet or so?
If the conditions are not to her liking, she will stay near the ground and there will be no action.
My bee teacher put a virgin queen in a litle cage on a kite. Once the kite got a bit up, the local drones showed up. He then reeled in the kite, and when the queen got close to the ground all of the drones left.
Bees are VERY particular.