What you are looking for is a "Sticky Header", at least this is one way to accomplish what you are wanting.
See this site: worldhenge.com (under construction) ...
There is a main header that is fixed at the top of the page, and when the scrolling page extends farther down a "Sticky Header " appears which has the logo and main menu for navigation (Variably Transparent above content).
This is a theme feature of "AVADA" one of the best themes in the world.
Other than an out of the box feature as mentioned, Coding this would be required. Or search for "Sticky Header" plugin:
look for Sticky Header by ThematoSoup, [http://thematosoup.com/] others will also be choices in wordpress search.