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In the latest landing video, it seems the Falcon 9 just hovered for a moment above the ship. That being said, it begs the question, how does the booster know where the ground is? Does it purely work off of GPS, a 1 way radar/beacon type system from the landing zone, radar from the rocket, or some means that I'm not aware of?

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When commenting on one of the early water landings, Elon Musk mentioned there's a radar altimeter (which was calibrated for flat, hard surfaces and might have trouble detecting the water surface as a result).
Can't find a primary source for this, though.

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