In my opinion, probably there is not a standard "mechanical/fingering" way to develop intervals intonation on fretless.
You need just to use your hear and keeping in mind just one rule: if you have lined fretless, on the first fingerboard octave usually intonation is right on the fretline and then moving step by step on the second octave the intonation usually will slightly move from the fretline to the middle, sometimes just as a regular fretted bass.
Practice scales and especially arpeggios, vertically and horizontally, great if you do arpeggio three octaves way or jump way, it will need to give you much confidence and control.
I attached a video just to give some ideas. If you need more help feel free to contact me.
You need just to use your hear and keeping in mind just one rule: if you have lined fretless, on the first fingerboard octave usually intonation is right on the fretline and then moving step by step on the second octave the intonation usually will slightly move from the fretline to the middle, sometimes just as a regular fretted bass.
Practice scales and especially arpeggios, vertically and horizontally, great if you do arpeggio three octaves way or jump way, it will need to give you much confidence and control.
I attached a video just to give some ideas. If you need more help feel free to contact me.