I've now removed the changes in /etc/config/firewall and tried it with /etc/firewall.user:
iptables -F input_rule
iptables -F output_rule
iptables -F forwarding_rule
iptables -t nat -F prerouting_rule
iptables -t nat -F postrouting_rule
# The following chains are for traffic directed at the IP of the
# WAN interface
iptables -F input_wan
iptables -F forwarding_wan
iptables -t nat -F prerouting_wan
### Open port to WAN
## -- This allows port 22 to be answered by (dropbear on) the router
iptables -t nat -A prerouting_wan -p tcp --dport 22 -j ACCEPT
iptables -A input_wan -p tcp --dport 22 -j ACCEPT
### Port forwarding
## -- This forwards port 8080 on the WAN to port 80 on 192.168.1.2
iptables -t nat -A prerouting_wan -p udp --dport 2031 -j DNAT --to 192.168.1.11:2030
iptables -A forwarding_wan -p udp --dport 2030 -d 192.168.1.11 -j ACCEPT
SSH access over port 22 is ok now, but forwarding of port 2031 to 2030 still doesn't work.
One strange thing is, that I can't ping the 192.168.1.11 from within the router. But 192.168.1.11 can be ping from every other machine attached to the router's LAN. And from inside the router I can ping to 192.1.168.50, which is the machine that connects to the router via SSH. So why can't 192.168.1.11 be pinged?