It can be easily defined as:
The database must not have any unmatched foreign key values.
The term "unmatched foreign key value" means a foreign key value for which there does not exist a matching value of the relevant candidate key in the relevant target (referenced) relation. For instance, any value existing in the EMPID attribute in ASSIGNMENT relation must be in the EMPLOYEE relation. That is, the only EMPIDs that can be in the EMPLOYEE relation are 101, 102 and 103 for the instance / present state of the database given in Figure. If we want to insert a tuple with EMPID value 104 in the ASSIGNMENT relation, it will cause violation of referential integrity constraint. Logically it is very obvious after all the employee 104 does not be, so how can s/he be assigned any work.