Database-referenced navigation (DBRN) using geophysical information is often implemented on autonomous underwater vehicles (AUVs) to correct the positional errors of the inertial navigation system (INS). The matching algorithm is a pivotal technique in DBRN. However. it is impossible to completely eliminate mismatches in practical application. https://parisnaturalfoodes.shop/product-category/brown-rice-cakes-unsalted/