Practice singing the pitch patterns in several different major keys. Check your singing with a pitched instrument or keyboard app.
Work your way to the point where you can sing the patterns correctly after hearing just the tonic note, or without hearing a reference pitch at all.
After you are comfortable singing the pitch patterns, practice identifying them by ear with the exercises below.
Pitch Patterns 3.1
Pitch Patterns 3.2
Pitch Patterns 3.3
Pitch Patterns 3.4
Pitch Patterns 3.5
Pitch Patterns 3.6
Pitch Patterns 3.7
Pitch Patterns 3.8
Pitch Patterns 3.9
Pitch Patterns 3.10