I’ve been trying to figure this one out for ages. I have a student at the moment who struggles with Pitch and I’ve been doing a little experiment with him.
I got him to download a Chromatic tuner, the one we have been using is DaTuner Lite which is free on Google Play. I asked him to sing any note and then try and make that note a C. Once he found C I made him hold it and then find D, E, F, G until he was able to sing the simple scale.
He said the fact that he could actually see what his voice was doing made it so much easier for him as he is a visual person. Even though he isn’t completely there yet, we are already starting to see improvements!