One of the important issues of the in-vacuum undulator design is the coupling impedance of the vacuum chamber, which includes tapered transitions with variable gap size. To get complete and reliable information on the impedance, analytical estimate, numerical simulations and beam-based measurements have been performed at Diamond Light Source, a forthcoming upgrade of which includes introducing additional insertion device (ID) straights. The impedance of an already existing ID vessel geometrically similar to the new one has been measured using the orbit bump method. The measurement results in comparison with analytical estimations and numerical simulations are discussed in this paper.