A method for measuring an insulation resistance between a battery and a chassis of an electrically powered vehicle, wherein one terminal of the battery is electrically connected to a first portion of a voltage divider comprising a switch, and wherein another terminal of the battery is electrically connected to a second portion of the voltage divider comprising a first resistor, wherein when the switch is in a closed state a flow of current is allowed between the first portion and the second portion of the voltage divider, the method comprising: starting the battery; measuring by a voltage measurement unit a first plurality of voltages across the first resistor of the voltage divider; determining a first stationary voltage across the first resistor based on an extrapolation of the first plurality of voltages by a voltage extrapolation unit, and interrupting the extrapolation; changing a state of the switch by a switch control unit; after changing the state of the switch, measuring a second plurality of voltages across the first resistor by the voltage measurement unit; determining a second stationary voltage across the first resistor based on an extrapolation of the second plurality of voltages by the voltage extrapolation unit, and interrupting the extrapolation; and calculating the insulation resistance using the determined first and second stationary voltages across the first resistor. one terminal of the battery is electrically connected to a first portion of a voltage divider comprising a switch, and wherein another terminal of the battery is electrically connected to a second portion of the voltage divider comprising a first resistor, wherein when the switch is in a closed state a flow of current is allowed between the first portion and the second portion of the voltage divider, the method comprising: starting the battery; measuring by a voltage measurement unit a first plurality of voltages across the first resistor of the voltage divider; determining a first stationary voltage across the first resistor based on an extrapolation of the first plurality of voltages by a voltage extrapolation unit, and interrupting the extrapolation; changing a state of the switch by a switch control unit; after changing the state of the switch, measuring a second plurality of voltages across the first resistor by the voltage measurement unit; determining a second stationary voltage across the first resistor based on an extrapolation of the second plurality of voltages by the voltage extrapolation unit, and interrupting the extrapolation; and calculating the insulation resistance using the determined first and second stationary voltages across the first resistor. starting the battery; measuring by a voltage measurement unit a first plurality of voltages across the first resistor of the voltage divider; determining a first stationary voltage across the first resistor based on an extrapolation of the first plurality of voltages by a voltage extrapolation unit, and interrupting the extrapolation; changing a state of the switch by a switch control unit; after changing the state of the switch, measuring a second plurality of voltages across the first resistor by the voltage measurement unit; determining a second stationary voltage across the first resistor based on an extrapolation of the second plurality of voltages by the voltage extrapolation unit, and interrupting the extrapolation; and calculating the insulation resistance using the determined first and second stationary voltages across the first resistor.