Battery insulation resistance measurement methods, insulation resistance measurement methods, insulation resistance determination apparatuses, and articles of manufacture are described. According to one aspect, a battery insulation resistance measurement method includes determining a voltage of a battery, determining a voltage of a first terminal of the battery with respect to a ground reference, determining a voltage of a second terminal of the battery with respect to the ground reference, and using the voltages of the battery, the first terminal and the second terminal, determining an insulation resistance of the battery with respect to the ground reference.