The standard stand-up in every serious ground curriculum - jiu-jitsu, judo, combatives - because it never presents your back or your face to an attacker.
Return to your feet safely from the ground without turning your back or dropping your guard.
From the frame, post your far hand behind you and your near foot flat on the floor. Your other hand stays up in guard, covering your head.
Load your weight onto the posted hand and near foot. Your hips lift off the ground; you are momentarily a tripod balanced on two points.
Sweep your trailing leg underneath you, plant it behind you, and drive up with both legs. The posted hand comes off the floor last. Practice slowly until smooth, then faster, always with the guard hand up.