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Although the computation for scalar multiplications for Koblitz curve can be efficiently executed by TNAF method, but it still need to compute the multiplicative inverse for each point addition.

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Koblitz curves are still (convertible to) elliptic curves with a short Weierstrass equation.

Therefore you can use the standard projective / Jacobian coordinate systems as you'd use for more generic curves, though I think (variants of) Jacobian coordinates tend to perform best. All of these coordinate systems only require a single modular inversion at the end of the scalar multiplication, in an operation often called "rescaling".

If your curve is additionally of the form $y^2=x^3+b$ further optimizations seem to be possible using a special case of Jacobian coordinates.

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